Multi-UAV collaborative earth material delivery planning method based on MA and contract network
A contract network and material technology, applied in the direction of resources, instruments, data processing applications, etc.
Active Publication Date: 2020-01-21
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology
[0004]
In order to overcome the deficiencies in the prior art, the present invention provides a method based on MA (Mutli-Agent, multi-agent) and multi-UAV (Unmanned Aerial Vehicle, unmanned aerial vehicle) collaborative ground material delivery planning method based on the contract network. The task assignment model of MA and contract network, on the basis of traditional contract network, has changed the calculation model of UAV's ability to perform tasks and the calculation model of the ability to perform related tasks. The coming task reassignment problem, give the task reassignment model, improve the execution efficiency and completion rate of the task
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[0053] Aiming at the task planning problem of multi-UAV collaborative ground material delivery, the present invention establishes a multi-UAV collaborative ground material delivery planning method based on MA and contract network, so that each drone in the drone cluster participating in the task execution can follow its own Execute different mission execution capability competition tasks, so that all tasks to be executed can be allocated in a reasonable and orderly manner, and tasks can be reassigned for damage to drones or insufficient task completion, so as to improve task execution efficiency and Completion rate.
[0054] In order to achieve the above object, the present invention adopts the following technical solutions:
[0055] Step 1. Set the types of tasks included in the ground delivery task at the current stage, determine the solution space for the intelligent collaborative ground delivery task planning problem of UAV clusters; design the ground delivery task executi...
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The invention provides a multi-UAV collaborative earth material delivery planning method based on MA and a contract network. On the basis of a traditional contract network, a calculation model of theunmanned aerial vehicle for task execution capability and a calculation model of the unmanned aerial vehicle for associated task execution capability are changed. A multi-UAV collaborative earth material delivery planning method based on MA and a contract network is established. Each unmanned aerial vehicle in the unmanned aerial vehicle cluster participating in task execution can execute different task execution capability competition tasks according to the unmanned aerial vehicle. All tasks to be executed are reasonably and orderly allocated to unmanned aerial vehicle resources, task reallocation is carried out under the condition that the unmanned aerial vehicle is damaged or the task completion degree is insufficient, and the task execution efficiency and the task completion rate are improved.
Description
technical field [0001] The invention relates to a method for planning multi-unmanned aerial vehicle cooperative delivery of materials to the ground. Background technique [0002] With the development and improvement of UAV technology, UAVs have been widely used in both military and civilian markets. Due to the advantages of low cost, simple take-off and landing, flexible operation, etc., driven by information technology and the consumer electronics industry, the civilian market for drones has risen rapidly. In terms of news reports, environmental detection and even individual users, drones are playing an increasingly important role. In recent years, more and more attempts have been made to use UAVs to deliver disaster relief materials at home and abroad. In order to better utilize the advantages of UAVs, multiple UAVs are used for proper coordination, and reasonable decisions are used to make multiple UAVs The cooperation between UAVs to complete multiple tasks has gradual...
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Login to View More IPC IPC(8): G06Q10/06
CPCG06Q10/06313G06Q10/067Y02T10/40
Inventor 张堃刘泽坤张振冲李珂时昊天
Owner NORTHWESTERN POLYTECHNICAL UNIV